Real-time control method and device of electrical stimulation pulse waveform based on bioimpedance

Abstract

The present invention discloses a real-time control method of an electrical stimulation pulse waveform based on bioimpedance, comprising: step 1, measuring the impedance value of a biological stimulation site at different frequencies by means of a frequency sweep method, and obtaining a frequency-impedance spectrum curve; step 2, according to the biological tissue equivalent RC circuit and its turning frequency interval, intercepting a curve located in the turning frequency interval from the frequency-impedance spectrum curve for data fitting, and obtaining an equivalent RC circuit relationship formula; step 3, constructing an electrical pulse waveform control model; step 4, inputting a preset electrical stimulation pulse and a frequency sweep result into the electrical pulse waveform control model, and after calculation, analysis and screening, making the electrical stimulation pulse waveform of the output voltage value consistent with the preset electrical stimulation pulse waveform. The present invention also provides a device based on the electrical pulse waveform control model. The electrical pulse waveform control model provided by the present invention avoids the distortion problem of the electrical stimulation pulse waveform, thereby improving the electrical stimulation treatment effect.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and in particular relates to a method and device for real-time regulation of electrical stimulation pulse waveform based on bioimpedance. Background Art

[0002] Bioelectric properties are inherent properties of biological tissues. The bioimpedance spectrum fitting circuit refers to the establishment of a biological tissue equivalent circuit model based on the electrical impedance properties of biological tissues. The construction principle is the equivalence of electronic components of biological tissues and the suspension characteristics of biological cells, that is, the extracellular fluid is distributed around the cells, and the cell membrane separates the extracellular fluid from the cytoplasm. Therefore, when fitting the RC circuit of the bioimpedance spectrum, the cell membrane equivalent capacitance and the cytoplasm equivalent resistance can be connected in series, and then connected in parallel with the extracellular fluid equivalent resistance. Finally, a certain fitting algorithm is used to calculate the parameters of the equivalent circuit model, so that the obtained equivalent circuit includes the electrical properties of the biological tissue. There are large differences in electrical impedance between different tissues in different parts, and even in different states of the same part.

[0003] Neuromuscular Electrical Stimulation (NMES) is widely used in clinical medicine. It stimulates specific muscle groups or near nerve locations through pulsed current through electrodes to cause twitching or contraction, thereby achieving the effect of passive muscle movement and functional rehabilitation. Existing electrical stimulation treatment plans include constant current electrical stimulation or constant voltage electrical stimulation.

[0004] Due to the large differences in the bio-impedance values ​​of the human body, there are problems with existing clinical electrical stimulation treatments: due to the different bio-impedances of different parts of different people, or the same part in different states, the same pulse current has very different rising edge speeds after being applied to the human body. For example, for parts with high impedance, the voltage may be high and the rising edge may be fast. These high-voltage or fast-rising pulses will cause the patient to feel electrical stimulation, with strong tingling, discomfort, twitching, numbness, and even skin burns. At the same time, the waveform of the electrical stimulation pulse will be significantly distorted, and charge accumulation will lead to numbness, etc., which ultimately leads to poor treatment effects. Therefore, in clinical electrical stimulation treatments, the output of constant-voltage electrical stimulation pulses is crucial for patients to experience treatment.

[0005] Bioelectrical impedance analysis is a technique used to measure the composition of the human body and assess clinical conditions. The electrical properties of human tissue can be described by an impedance model. The construction principle of the impedance model is based on the equivalence of electronic components of biological tissue and the suspension characteristics of biological cells. Therefore, multi-spectrum impedance measurement can be used to establish a tissue RC network model. Its equivalent model parameters R and C can describe the electrical properties of the internal and external resistance of tissue cells, cell membrane capacitance and tissue dispersion coefficient.

[0006] Patent document CN102940934B discloses a biofeedback labor physical analgesia device, including a labor analgesia workstation, an electrical stimulation wave group output module, a maternal-fetal monitoring module, a hand-held pressure sensor and an electrical stimulation wave group generator; the maternal-fetal monitoring module, the hand-held pressure sensor, and the electrical stimulation wave group generator are respectively connected to the labor analgesia workstation; the electrical stimulation wave group generator is connected to the electrical stimulation wave group output module. The method uses the real-time uterine contraction pressure value and the maximum hand-held pressure value of the parturient as key parameters, and calculates the type and amplitude of the electrical stimulation wave group according to the size relationship between the real-time uterine contraction pressure value and the uterine contraction pressure pain threshold, and the size relationship between the real-time hand-held pressure value and the pain threshold of the hand-held pressure ratio, and the two are combined to adjust the final output electrical stimulation pulse.

[0007] Patent document CN110338793A discloses a personalized online impedance detection technology suitable for transcranial electrical stimulation, including: correction module, model establishment and personalized impedance threshold selection; the impedance correction module includes: voltage acquisition, voltage correction and impedance correction; voltage acquisition is mainly completed by a host computer system written in C#, mainly including the acquisition of high-end voltage and low-end voltage; the collected voltage is corrected, and the corrected impedance can be obtained by the ratio of the corrected voltage to the current. This method is based on characterizing the changing relationship between current and human body impedance, and adjusts the final output electric pulse by adjusting the impedance value in the electrical stimulation device.

[0008] The electrical stimulation waveform is very important for the effectiveness of rehabilitation treatment. The current technology cannot quickly adjust the electrical stimulation pulse waveform according to the complex real-time bioimpedance situation. Therefore, a new control test method is needed that can adjust the waveform parameters of the electrical stimulation pulse according to the real-time bioimpedance situation to achieve electrical stimulation with a constant waveform under different bioimpedance conditions. Summary of the invention

[0009] The present invention provides a real-time control method for an electrical stimulation pulse waveform based on bio-impedance. The method obtains an equivalent RC circuit relationship formula by fitting according to the frequency-impedance spectrum curves at different biological positions, and constructs an electrical pulse waveform control model for real-time control of the output voltage value of an electrical pulse device based on the formula, so that the electrical stimulation pulse waveform finally output is consistent with the preset electrical stimulation pulse waveform.

[0010] A method for real-time control of electrical stimulation pulse waveform based on bioimpedance, comprising:

[0011] Step 1, measuring the impedance value of the biostimulation site at different frequencies by frequency sweeping method, and obtaining the corresponding frequency-impedance spectrum curve;

[0012] Step 2, according to the biological tissue equivalent RC circuit and its transition frequency interval, intercepting the curve located in the transition frequency interval from the frequency-impedance spectrum curve for data fitting, and obtaining an equivalent RC circuit relationship formula, wherein the equivalent RC circuit relationship formula is used to calculate the resistance value and the capacitance value corresponding to different impedance values ​​of the biological stimulation site;

[0013] Step 3, constructing an electric pulse waveform control model for controlling the output voltage value of the electric pulse device, including an analysis module, a screening module and a control module, wherein the analysis module calculates the actual waveform parameters of the electric stimulation pulse corresponding to the actual voltage value according to the frequency sweep result of the input site to be stimulated and the equivalent RC circuit relationship formula, combined with the actual voltage value input by the electric pulse device, and inputs the actual waveform parameters into the screening module, wherein the frequency sweep result includes the frequency-impedance spectrum curve corresponding to the biological stimulation site, and the screening module performs screening and analysis according to the ideal waveform parameters of the input preset electric stimulation pulse and the actual waveform parameters corresponding to all voltage values ​​within the preset constant current pulse voltage range, and outputs the actual waveform parameters that meet the requirements as control parameters and inputs them into the control module, wherein the control model controls the voltage value corresponding to the output of the electric pulse device according to the control parameters obtained by screening, and the electric stimulation pulse waveform corresponding to the voltage value is consistent with the preset electric stimulation pulse waveform;

[0014] Step 4: Input the ideal waveform parameters of the preset electrical stimulation pulse and the frequency sweep results of the stimulation site into the electrical pulse waveform control model. After calculation, analysis and screening, the electrical stimulation pulse waveform of the output voltage value of the electrical pulse device is consistent with the preset electrical stimulation pulse waveform.

[0015] Specifically, the biological tissue equivalent RC circuit includes two parts, the first part is the cell membrane equivalent capacitance and the extracellular fluid equivalent parallel resistance connected in parallel with the cell membrane equivalent capacitance, and the second part is the cytoplasm equivalent series resistance connected in series with the first part.

[0016] Preferably, a curve located in the transition frequency interval is intercepted from the frequency-impedance spectrum curve for data fitting, and the expression of the equivalent RC circuit relationship formula is obtained as follows:

[0017]

[0018] Among them, Z is the impedance value of the frequency-impedance spectrum curve, f is the frequency of the frequency-impedance spectrum curve, R1 is the series resistance of the biological tissue equivalent RC circuit, R2 is the parallel resistance of the biological tissue equivalent RC circuit, C is the capacitance value of the biological tissue equivalent RC circuit, and the boundaries of the transition frequency range are the series transition frequency and the parallel transition frequency, respectively.

[0019] Specifically, the ideal waveform parameters include an ideal rise time and an ideal peak voltage of a preset electrical stimulation pulse.

[0020] Preferably, the actual waveform parameters include the actual rise time and the actual peak voltage of the electrical stimulation pulse corresponding to the actual voltage value, and the actual rise time is related to the capacitance value in the biological tissue equivalent RC circuit, and the specific expression is:

[0021]

[0022] Where t is the rise time, V(·) is the voltage output function, R1 is the series resistance in the biological tissue equivalent RC circuit, R2 is the parallel resistance in the biological tissue equivalent RC circuit, C is the capacitance value in the biological tissue equivalent RC circuit, and A, a, and b are system coefficients;

[0023] The actual peak voltage is related to the resistance value in the biological tissue equivalent RC circuit, and the specific expression is:

[0024]

[0025]

[0026] Among them, Z RC is the impedance value of the equivalent RC circuit, f is the frequency of the frequency-impedance spectrum curve corresponding to the target stimulation site, ω is the angular frequency, R o is the equivalent internal resistance of the electric pulse device, V s is the actual voltage value of the electric pulse device input, V e It is the peak voltage output by the biological tissue equivalent RC circuit.

[0027] Preferably, the screening module is based on error calculation, and screens out the actual waveform parameters with the smallest difference from the ideal waveform parameters in the preset constant current pulse voltage range value, and inputs them into the control module as the optimal control parameters.

[0028] Preferably, when the objective function result of the error calculation is the minimum value, the optimal control parameter is obtained, and the specific expression is:

[0029] min L=(M|TT n |+N|VV n |)

[0030] Wherein, T is the ideal rise time of the preset electrical stimulation pulse, V is the ideal peak voltage of the preset electrical stimulation pulse; T n is the actual rise time of the actual electrical stimulation pulse, V nis the actual peak voltage of the actual electrical stimulation pulse; M is the weight coefficient of the electrical stimulation pulse rise time, N is the weight coefficient of the electrical stimulation pulse peak voltage, n is the number of groups, n=1,2…p, p is the total number of voltage values ​​within the constant current pulse voltage range, and the actual voltage value within the constant current pulse voltage range has a value step of 0.1mV.

[0031] The present invention provides a real-time control device for an electric stimulation pulse waveform, comprising a computer memory, a computer processor, and a computer program stored in the computer memory and executable on the computer processor, wherein the above-mentioned electric pulse waveform control model is adopted in the computer memory; when the computer processor executes the computer program, the following steps are implemented: the ideal waveform parameters of a preset electric stimulation pulse and the frequency sweep result of a site to be stimulated are input into the electric pulse waveform control model, and after calculation, analysis and screening, the electric stimulation pulse waveform of the output voltage value of the electric pulse device is made consistent with the preset electric stimulation pulse waveform.

[0032] Compared with the prior art, the present invention has the following beneficial effects:

[0033] (1) According to the frequency-impedance spectrum curve of the biostimulation site at different frequencies, the equivalent RC circuit relationship formula was obtained by combining the bioimpedance equivalent RC circuit and its transition frequency interval fitting. Based on this formula, the control model of the electric pulse device was constructed to solve the problem of electrical stimulation waveform distortion of the actual output voltage, thereby improving the electrical stimulation treatment effect.

[0034] (2) Through the error calculation method, the final output electrical stimulation pulse waveform can be adjusted to be consistent with the preset electrical stimulation pulse waveform according to the real-time situation of the bioimpedance. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A flow chart of the method for real-time control of the electrical stimulation pulse waveform provided by the present invention;

[0036] Figure 2 A schematic diagram of a biological tissue equivalent RC circuit provided in this embodiment;

[0037] Figure 3 A curve diagram showing the fitting results of the equivalent RC circuit relationship formula provided in this embodiment;

[0038] Figure 4 Schematic diagram of the waveform of the preset electrical stimulation pulse in this embodiment;

[0039] Figure 5 This is a frequency-impedance spectrum curve diagram of the target stimulation site in this embodiment;

[0040] Figure 6 Schematic diagram of the waveform of the electrical stimulation pulse when not regulated in this embodiment;

[0041] Figure 7 Schematic diagram of the waveform of the electrical stimulation pulse after regulation in this embodiment. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present invention more clear, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the following description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modification, supplement or similar substitution made within the scope of the principle of the present invention should be included in the protection scope of the present invention.

[0043] In order to solve the problem that the impedance values ​​measured between different human bodies or different tissues of the same human body are quite different in clinical practice, making it difficult to evaluate the electrical stimulation waveform, such as Figure 1 As shown, the present invention provides a method for real-time control of electrical stimulation pulse waveform based on bioimpedance, and the specific steps are as follows:

[0044] Step 1, measuring the impedance value of the biostimulation site at different frequencies by frequency sweeping method, and obtaining the corresponding frequency-impedance spectrum curve;

[0045] Step 2: Figure 2 As shown in the figure, the biological tissue equivalent RC circuit structure in this embodiment, the biological tissue equivalent RC circuit includes two parts, the first part is the cell membrane equivalent capacitance C and the extracellular fluid equivalent parallel resistance R2 connected in parallel with the cell membrane equivalent capacitance, and the second part is the cytoplasm equivalent series resistance R1 connected in series with the first part.

[0046] Calculate the turning frequency range of the biological tissue equivalent RC circuit as follows:

[0047]

[0048]

[0049] Wherein, f1 is the series transition frequency of the equivalent RC circuit, f2 is the parallel transition frequency of the equivalent RC circuit, R1 is the series resistance, R2 is the parallel resistance, and C is the capacitance value.

[0050] The curve in the transition frequency range is intercepted from the frequency-impedance spectrum curve, and the data is fitted through Python to obtain the equivalent RC circuit relationship formula, which is expressed as follows:

[0051]

[0052] Wherein, Z is the impedance value of the frequency-impedance spectrum curve, f is the frequency of the frequency-impedance spectrum curve, R1 is the series resistance of the biological tissue equivalent RC circuit, R2 is the parallel resistance of the biological tissue equivalent RC circuit, and C is the capacitance value of the biological tissue equivalent RC circuit.

[0053] like Figure 3 As shown, it is a fitting result curve diagram of the equivalent RC circuit relationship formula provided in this embodiment. The solid line in the figure is the frequency-impedance value curve obtained by calculating the equivalent RC circuit relationship formula, and the dotted line is the frequency-impedance curve diagram obtained by actual frequency sweeping. It can be seen from the figure that the frequency-impedance value curve corresponding to the equivalent RC circuit relationship formula is basically consistent with the frequency-impedance value measurement data points obtained by actual frequency sweeping, which proves that the fitting result of the equivalent RC circuit relationship formula is good.

[0054] Step 3: construct an electric pulse waveform control model for controlling the output voltage value of the electric pulse device. The model includes an analysis module, a screening module and a control module. The specific control process is as follows:

[0055] Step 3.1, obtaining the ideal rise time and ideal peak voltage of the preset electrical stimulation pulse through an oscilloscope, and storing the ideal rise time and ideal peak voltage in the screening module for subsequent screening of control parameters;

[0056] Step 3.2, obtaining a frequency-impedance spectrum curve of the site to be electrically stimulated by a frequency sweep device, and inputting the frequency-impedance spectrum curve into the analysis module as a frequency sweep result;

[0057] Step 3.3, the analysis module calculates the actual rise time and the actual peak voltage of the electrical stimulation pulse corresponding to the actual voltage value according to the frequency sweep result and the equivalent RC circuit relationship formula, combined with the actual voltage value input by the electrical pulse device, and inputs the actual rise time and the actual peak voltage into the screening module;

[0058] Step 3.4, the screening module calculates the error between the input ideal rise time and the ideal peak voltage and the actual rise time and the actual peak voltage corresponding to all voltage values ​​within the preset constant current pulse voltage range, and screens out a group of actual rise time and actual peak voltage with the smallest error value as control parameters to be input into the control module;

[0059] Step 3.5, the control module controls the output voltage value of the electric pulse device according to the actual rise time and the actual peak voltage obtained by screening, so that the electric stimulation pulse waveform of the final output voltage value is consistent with the preset electric stimulation pulse waveform.

[0060] Step 4: This embodiment is based on the requirements of the clinical pelvic floor electrical stimulation treatment program. The electrical stimulation pulse is set to a pulse wave with a peak voltage of 2V, a frequency of 20Hz, a pulse width of 0.2ms, and a negligible rise time. The specific waveform is as follows: Figure 4 shown.

[0061] Set the sweep frequency range to 20-400 Hz to obtain the frequency-impedance spectrum curve of the target stimulation site of the clinical pelvic floor, such as Figure 5 As shown, the horizontal axis is frequency f, the unit is Hz, and the vertical axis is impedance value Z, the unit is Ω.

[0062] First, an electric pulse device is used to directly output electric stimulation to the site to be stimulated. The waveform of the electric stimulation pulse is as follows: Figure 6 As shown, compared to Figure 4 The unregulated output waveform shows obvious distortion.

[0063] The electric pulse device was regulated by the electric pulse waveform control model. According to the relationship between the frequency-impedance spectrum curve of the clinical pelvic floor and the equivalent RC circuit formula, the resistance R1=1716.5Ω, R2=1119.2Ω, and the capacitance C=2.494μF were obtained.

[0064] According to the resistance and capacitance values ​​in the equivalent RC circuit of biological tissue, the actual rise time and actual peak voltage of the electrical stimulation pulse corresponding to the actual voltage value are calculated, which is specifically expressed as follows:

[0065]

[0066] Where t is the rise time, V(·) is the voltage output function, R1 is the series resistance in the biological tissue equivalent RC circuit, R2 is the parallel resistance in the biological tissue equivalent RC circuit, C is the capacitance value in the biological tissue equivalent RC circuit, and A, a, and b are system coefficients;

[0067]

[0068]

[0069] Among them, Z RC is the impedance value of the equivalent RC circuit, f is the frequency of the frequency-impedance spectrum curve corresponding to the target stimulation site, ω is the angular frequency, R o is the equivalent internal resistance of the electric pulse device, V s is the actual voltage value of the electric pulse device input, V e It is the peak voltage output by the biological tissue equivalent RC circuit.

[0070] Based on the above formula, a set of actual rise time and actual peak voltage with the smallest difference from the ideal rise time and the ideal peak voltage is selected through error calculation in the constant current pulse voltage range as the control parameters to control the output voltage value of the electric pulse device. Among them, when the objective function of the error calculation is minimized, the optimal parameters are obtained. The specific expression is as follows:

[0071] min L=(M|TT n |+N|VV n |)

[0072] Wherein, T is the ideal rise time of the preset electrical stimulation pulse, V is the ideal peak voltage of the preset electrical stimulation pulse; T n is the actual rise time of the actual electrical stimulation pulse, V n is the actual peak voltage of the actual electrical stimulation pulse; M is the rise time weight coefficient of the electrical stimulation pulse, N is the peak voltage weight coefficient of the electrical stimulation pulse, n is the number of groups, n = 1, 2…p, p is the total number of voltage values ​​within the constant current pulse voltage range, and the actual voltage value within the constant current pulse voltage range has a value step of 0.1mV. In this embodiment, M is 0.4 and N is 0.6.

[0073] Finally, the electric pulse device is controlled by the control module to output voltage to the target stimulation site. The waveform of the electric pulse after control is as follows: Figure 7 As shown in FIG. 1 , its peak voltage is about 1.95 V, the pulse width is 0.19 ms, and its rise time is very close to the rise time of the preset electrical stimulation pulse. Figure 4 The waveform of the real-time regulated electrical stimulation pulse is closest to that of the preset electrical stimulation pulse.

Claims

1. A method for real-time control of electrical stimulation pulse waveform based on bioimpedance, characterized in that: include: Step 1, measuring the impedance value of the biostimulation site at different frequencies by frequency sweeping method, and obtaining the corresponding frequency-impedance spectrum curve; Step 2, according to the biological tissue equivalent RC circuit and its transition frequency interval, intercepting the curve located in the transition frequency interval from the frequency-impedance spectrum curve for data fitting, and obtaining an equivalent RC circuit relationship formula, wherein the equivalent RC circuit relationship formula is used to calculate the resistance value and the capacitance value corresponding to different impedance values ​​of the biological stimulation site; Step 3, constructing an electric pulse waveform control model for controlling the output voltage value of the electric pulse device, including an analysis module, a screening module and a control module, wherein the analysis module calculates the actual waveform parameters of the electric stimulation pulse corresponding to the actual voltage value according to the frequency sweep result of the input site to be stimulated and the equivalent RC circuit relationship formula, combined with the actual voltage value input by the electric pulse device, and inputs the actual waveform parameters into the screening module, wherein the frequency sweep result includes the frequency-impedance spectrum curve corresponding to the biological stimulation site, and the screening module performs screening and analysis according to the ideal waveform parameters of the input preset electric stimulation pulse and the actual waveform parameters corresponding to all voltage values ​​within the preset constant current pulse voltage range, and outputs the actual waveform parameters that meet the requirements as control parameters and inputs them into the control module, wherein the control model controls the voltage value corresponding to the output of the electric pulse device according to the control parameters obtained by screening, and the electric stimulation pulse waveform corresponding to the voltage value is consistent with the preset electric stimulation pulse waveform; Step 4: Input the ideal waveform parameters of the preset electrical stimulation pulse and the frequency sweep results of the stimulation site into the electrical pulse waveform control model. After calculation, analysis and screening, the electrical stimulation pulse waveform of the output voltage value of the electrical pulse device is consistent with the preset electrical stimulation pulse waveform.

2. The method for real-time control of electrical stimulation pulse waveform based on bioimpedance according to claim 1, characterized in that: The biological tissue equivalent RC circuit includes two parts, the first part is the cell membrane equivalent capacitance and the extracellular fluid equivalent parallel resistance connected in parallel with the cell membrane equivalent capacitance, and the second part is the cytoplasm equivalent series resistance connected in series with the first part.

3. The method for real-time control of electrical stimulation pulse waveform based on bioimpedance according to claim 1, characterized in that: The curve in the transition frequency range is intercepted from the frequency-impedance spectrum curve for data fitting, and the expression of the equivalent RC circuit relationship formula is obtained as follows: Among them, Z is the impedance value of the frequency-impedance spectrum curve, f is the frequency of the frequency-impedance spectrum curve, R1 is the series resistance of the biological tissue equivalent RC circuit, R2 is the parallel resistance of the biological tissue equivalent RC circuit, C is the capacitance value of the biological tissue equivalent RC circuit, and the boundaries of the transition frequency range are the series transition frequency and the parallel transition frequency, respectively.

4. The method for real-time control of electrical stimulation pulse waveform based on bioimpedance according to claim 1, characterized in that: The ideal waveform parameters include an ideal rise time and an ideal peak voltage of a preset electrical stimulation pulse.

5. The method for real-time control of electrical stimulation pulse waveform based on bioimpedance according to claim 1, characterized in that: The actual waveform parameters include the actual rise time and the actual peak voltage of the electrical stimulation pulse corresponding to the actual voltage value. The actual rise time is related to the capacitance value in the biological tissue equivalent RC circuit. The specific expression is: Where t is the rise time, V(·) is the voltage output function, R1 is the series resistance in the biological tissue equivalent RC circuit, R2 is the parallel resistance in the biological tissue equivalent RC circuit, C is the capacitance value in the biological tissue equivalent RC circuit, and A, a, and b are system coefficients; The actual peak voltage is related to the resistance value in the biological tissue equivalent RC circuit, and the specific expression is: Among them, Z RC is the impedance value of the equivalent RC circuit, f is the frequency of the frequency-impedance spectrum curve corresponding to the target stimulation site, ω is the angular frequency, R o is the equivalent internal resistance of the electric pulse device, V s is the actual voltage value of the electric pulse device input, V e It is the peak voltage output by the biological tissue equivalent RC circuit.

6. The method for real-time control of electrical stimulation pulse waveform based on bioimpedance according to claim 1, characterized in that: The screening module is based on error calculation, and screens out the actual waveform parameters with the smallest difference from the ideal waveform parameters in the preset constant current pulse voltage range value, and inputs them into the control module as the optimal control parameters.

7. The method for real-time control of electrical stimulation pulse waveform based on bioimpedance according to claim 6, characterized in that: When the objective function result of the error calculation is the minimum value, the optimal control parameter is obtained, and the specific expression is: min L=(M|T-T n |+N|V-V n |) Where T is the ideal rise time of the preset electrical stimulation pulse, V is the ideal peak voltage of the preset electrical stimulation pulse, and T n is the actual rise time of the actual electrical stimulation pulse, V n is the actual peak voltage of the actual electrical stimulation pulse, M is the weight coefficient of the electrical stimulation pulse rise time, N is the weight coefficient of the electrical stimulation pulse peak voltage, n is the number of groups, n=1,2…p, p is the total number of voltage values ​​within the constant current pulse voltage range.

8. A real-time control device for an electrical stimulation pulse waveform, comprising a computer memory, a computer processor, and a computer program stored in the computer memory and executable on the computer processor, characterized in that: The computer memory adopts the electric pulse device control model described in any one of claims 1 to 7; the computer processor implements the following steps when executing the computer program: inputting the ideal waveform parameters of the preset electric stimulation pulse and the scanning results of the site to be stimulated into the electric pulse waveform control model, and through calculation, analysis and screening, making the electric stimulation pulse waveform of the output voltage value of the electric pulse device consistent with the preset electric stimulation pulse waveform.

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